| 机器人多路超声波环境探测器的研制 |
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| 作者姓名： | 罗本成 原魁 刘晋东 刘贤华 |
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| 作者单位： | 中国科学院自动化研究所复杂系统与智能科学实验室, 北京 100080 |
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| 基金项目： | 国家高技术研究发展计划 863资助项目 |
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| 摘 要： | 在自主式移动机器人的定位导航中,实时探测周围环境信息的传感器系统是至关重要的。介绍了一种基于单片机的多路环境探测器,阐述了系统的工作原理与软硬件设计,分析了误差产生的原因,给出了相应地处理方法。基于此开发了SMAJ自主移动小车,实验验证了系统的实效性。
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| 关 键 词： | 移动机器人 超声波传感器 单片机 多传感器融合 |
| 收稿时间： | 2001-09-18 |
| 修稿时间： | 2001-12-02 |
Development of Robot Multi-Channel Ultrasonic Environment Finder |
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| Authors: | LUO Ben-Cheng YUAN Kui LIU Jin-Dong LIU Xian-Hua |
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| Institution: | Complex System and Intelligence Science Lab., Institute of Automation of the Chinese Academy of Sciences, Beijing 100080 |
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| Abstract: | A real-time sensor system plays a critical role for autonomous robot navigation, and location as well. In this paper, a MCU based multi-channel ultrasonic environment finder for autonomous robot is introduced. Some reasons caused the measure error are analyzed, and methods to cope with it are also addressed. By taking advantage of the finder, a small mobile autonomous jeep named SMAJ is developed, experiments show its practicability. |
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| Keywords: | mobile robot ultrasonic sensor micro-controller unit multi-sensor fusion |
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